Method and device for adjusting an amount of movement representing the vehicle motion

Abstract

A device and a method of controlling a movement parameter representing the movement of the vehicle, includes a first arrangement for detecting at least the transverse acceleration of the vehicle is proposed. The device also contains a second arrangement at least for determining a transverse acceleration component which depends on the transverse slope of the road surface and/or for correcting at least the transverse acceleration of the vehicle at least as a function of the transverse acceleration component. In the second arrangement a status of the vehicle whereby the transverse acceleration component which depends on the transverse slope of the road surface is determined at least as a function of the slip angle occurring on the rear axle of the vehicle.

What is claimed is:  
     
       1. A device for controlling a movement parameter representing a movement of a vehicle, comprising: 
       a first arrangement detecting at least the movement parameter and determining a transverse acceleration parameter indicative of a transverse acceleration of the vehicle; and  
       a second arrangement for determining a transverse acceleration component dependent upon a transverse slope of a road surface, and for correcting the determined transverse acceleration of the vehicle at least as a function of the transverse acceleration component,  
       wherein the second arrangement:  
       determines a slip angle occurring on a rear axle of the vehicle,  
       detects a vehicle condition, during which the transverse acceleration component is determined, as a function of the slip angle, and  
       determines whether the determined transverse acceleration component is plausible.  
     
     
       2. The device according to claim  1 , 
       wherein the first arrangement detects a first parameter corresponding to a yaw of the vehicle and second parameters corresponding to wheel velocities, and  
       wherein a further parameter representing a longitudinal velocity of the vehicle is determined as a function of the wheel velocities.  
     
     
       3. The device according to claim  2 , wherein the transverse acceleration component is determined as a function of the first parameter, the transverse acceleration parameter and the further parameter. 
     
     
       4. The device according to claim  2 , wherein the slip angle is determined as a function of a third parameter corresponding to a float angle of the vehicle, the first parameter and the further parameter. 
     
     
       5. The device according to claim  4 , wherein the second arrangement determines the float angle as a function of the first parameter, the transverse acceleration parameter and the further parameter. 
     
     
       6. The device according to claim  5 , 
       wherein the vehicle includes actuators influencing braking torques acting on individual wheels of the vehicle, and  
       wherein the second arrangement determines the float angle of the vehicle as a function of predetermined actions of the actuators which are performed independently of a driver to control the movement parameter.  
     
     
       7. The device according to claim  1 , 
       wherein the second arrangement detects the vehicle condition as a function of the slip angle by comparing the slip angle with a predetermined threshold value, and  
       wherein the vehicle condition is detected when the slip angle is greater than the predetermined threshold value.  
     
     
       8. A device for controlling a movement parameter representing a movement of a vehicle, comprising: 
       a first arrangement detecting at least the movement parameter and determining a transverse acceleration parameter indicative of a transverse acceleration of the vehicle; and  
       a second arrangement performing at least one of:  
       determining a transverse acceleration component dependent upon a transverse slope of a road surface, and  
       correcting the determined transverse acceleration of the vehicle at least as a function of the transverse acceleration component,  
       wherein the second arrangement:  
       determines a slip angle occurring on a rear axle of the vehicle,  
       detects a vehicle condition, during which the transverse acceleration component is determined, as a function of the slip angle, and  
       determines whether the determined transverse acceleration component is plausible;  
       wherein  
       the vehicle includes actuators influencing a braking torque action on individual wheels of the vehicle;  
       the first arrangement detects a steering angle of the vehicle; and  
       the second arrangement, in determining the vehicle condition, monitors at least one of the actuators and the steering angle for indication if a driver of the vehicle has initiated predetermined actions, the vehicle condition being detected when the braking torque generated by the driver is smaller than a first predetermined threshold value and when a gradient of the steering angle is smaller than a second predetermined threshold value.  
     
     
       9. A device for controlling a movement parameter representing a movement of a vehicle, comprising: 
       a first arrangement detecting at least the movement parameter and determining a transverse acceleration parameter indicative of a transverse acceleration of the vehicle; and  
       a second arrangement performing at least one of:  
       determining a transverse acceleration component dependent upon a transverse slope of a road surface, and  
       correction the determined transverse acceleration of the vehicle at least as a function of the transverse acceleration component,  
       wherein the second arrangement:  
       determines a slip angle occurring on a rear axle of the vehicle,  
       detects a vehicle condition, during which the transverse acceleration component is determined, as a function of the slip angle, and  
       determines whether the determined transverse acceleration component is plausible;  
       wherein:  
       the first arrangement detects a first parameter corresponding to a yaw of the vehicle and second parameters corresponding to wheel velocities;  
       a further parameter representing a longitudinal velocity of the vehicle is determined as a function of the wheel velocities;  
       a first value of the first parameter is determined as a function of the determined transverse acceleration component, and a second value of the first parameter is determined by the first arrangement;  
       in determining whether the determined transverse acceleration component is plausible, the second arrangement determines a difference between the first value and the second value and compares the difference with a predetermined threshold value; and  
       the second arrangement corrects the transverse acceleration of the vehicle when the difference is smaller than the predetermined threshold value.  
     
     
       10. A method of controlling a movement parameter representing a movement of a vehicle, comprising the steps of: 
       determining a transverse acceleration of the vehicle;  
       performing at least one of the following:  
       determining a transverse acceleration component relating to a transverse slope of a road surface, and  
       correcting the determined transverse acceleration of the vehicle as a function of the transverse acceleration component;  
       determining a slip angle occurring on a rear axle of the vehicle;  
       determining a condition of the vehicle, in which the transverse acceleration component is determined, as a function of the slip angle; and  
       determining whether the determined transverse acceleration component is plausible.  
     
     
       11. A device for controlling a movement parameter representing a movement of a vehicle, comprising: 
       means for detecting at least the movement parameter;  
       first means for determining a transverse acceleration parameter indicative of a transverse acceleration of the vehicle;  
       second means for determining a transverse acceleration component dependent upon a transverse slope of a road surface so as to provide a determined transverse acceleration component of the vehicle, wherein the second means for determining operates to:  
       determine a slip angle occurring on a rear axle of the vehicle,  
       detect a vehicle condition, during which the transverse acceleration component is determined, based on the slip angle, and  
       determine whether the determined transverse acceleration component is plausible; and  
       means for correcting the determined transverse acceleration of the vehicle based on at least the transverse acceleration component.  
     
     
       12. A method of modifying a movement parameter of a vehicle, comprising the steps of: 
       determining a transverse acceleration component relating to a transverse slope of a road surface;  
       determining if a vehicle condition is met;  
       determining a slip angle parameter of a rear axle of the vehicle if the vehicle condition is met;  
       determining if the slip angle parameter is greater than a threshold;  
       calculating a new transverse acceleration component if the vehicle condition is met and the slip angle parameter is greater than the threshold;  
       determining if the new transverse acceleration component is plausible; and  
       correcting the transverse acceleration component of the vehicle based on the new transverse acceleration component if the new transverse acceleration component is plausible.